2
 0.974963 0.0131691  0.221977 0.0841317
-0.181652  0.622931  0.760894 0.0613987
-0.128256 -0.782167  0.609726  0.646462
        0         0         0         1
  0.822861   0.524836   0.217824 -0.0478804
 -0.489937   0.461088   0.739838  -0.079734
  0.287857  -0.715504   0.636548   0.886247
         0          0          0          1
